CN113253321B - AGPS positioning method suitable for receiver time error of second level - Google Patents
AGPS positioning method suitable for receiver time error of second level Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses an AGPS positioning method suitable for a receiver with a time error of second level, comprising the following steps: if all satellites meet AGPS positioning conditions, calculating a first pseudo-range value corrected by each satellite at a rough time, taking the rough time as a starting time, acquiring a time closest to the current time as a reference time, correcting the position of each satellite and the first pseudo-range value based on the reference time to obtain a corrected satellite position and a second pseudo-range value, and carrying out AGPS calculation on a receiver based on the corrected satellite position and the second pseudo-range value of each satellite to obtain a calculation result. The invention utilizes the external auxiliary information and the time in milliseconds to calculate the complete signal time so as to complete the positioning calculation, solves the problem that the positioning calculation cannot be completed by using the traditional mode under the condition that the receiver cannot obtain the complete signal time, and also accelerates the speed of completing the first positioning of the receiver.
Description
Technical Field
The invention relates to the technical field of satellite navigation receivers, in particular to an AGPS positioning method suitable for a receiver with a second-level time error.
Background
The information required for a navigation receiver (hereinafter referred to as receiver) positioning solution includes signal transmission time, satellite position and velocity, pseudorange measurements, and doppler measurements. When the receiver has no external time service and the signal level can only acquire time in milliseconds and can not acquire complete signal time, the positioning calculation can not be accurately realized under the condition by using the traditional positioning algorithm comprising 4 state variables.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides an AGPS positioning method suitable for the receiver with a second time error, which can realize accurate positioning of the receiver before frame synchronization and bit synchronization and greatly improve TTFF (time to first positioning) performance of the receiver.
According to a first aspect of the present invention, there is provided an AGPS positioning method adapted for receiver time error of the order of seconds, comprising the steps of:
if all satellites of the receiver meet AGPS positioning conditions, calculating a first pseudo-range value corrected by each satellite at the approximate time;
calculating the difference value between the satellite-to-ground distance of each satellite at a plurality of times in the ephemeris freshness time range and the corresponding first pseudo-range value by taking the sketch time as the starting time, calculating the sum of the difference values of all satellites at each of the plurality of times, and obtaining the time corresponding to the minimum value of the sum of all the difference values as the reference time;
correcting the position of each satellite and the first pseudo-range value based on the reference moment to obtain a corrected satellite position and a corrected second pseudo-range value;
and carrying out AGPS (advanced graphics processing) calculation on the receiver based on the corrected satellite position and the second pseudo-range value of each satellite to obtain a calculation result of the receiver.
According to the embodiment of the invention, at least the following technical effects are achieved:
aiming at the problems that the receiver has no external time service, the signal layer can only acquire time in milliseconds, and the positioning solution can not be completed by using the traditional mode under the scene that the complete signal time can not be acquired. The method provided by the first aspect of the invention utilizes the external auxiliary information (approximate position, ephemeris, approximate time) and the time in milliseconds to calculate the complete signal time so as to finish positioning calculation, and solves the problem that the positioning calculation cannot be finished by using the traditional mode under the condition that the receiver cannot obtain the complete signal time; the speed of the receiver for finishing the first positioning is increased.
According to a second aspect of the present invention, there is also provided a control apparatus including: a memory, a processor and a computer program stored on the memory and executable on the processor, which processor when executing the computer program implements an AGPS positioning method according to the first aspect of the invention adapted for receiver time errors of the order of seconds.
According to a third aspect of the present invention there is also provided a receiver comprising a control device according to the second aspect of the present invention.
According to a fourth aspect of the present invention, a computer-readable storage medium stores computer-executable instructions for causing a computer to perform the AGPS positioning method according to the first aspect of the present invention adapted for receiver time errors of the order of seconds.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a flow chart of an AGPS positioning method with a receiver time error of second level according to an embodiment of the invention;
FIG. 2 is a logic diagram of an AGPS positioning method with receiver time error in second order according to an embodiment of the present invention;
fig. 3 is a graph of experimental data provided in an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
Before describing the implementation of the present invention, the inventive concept of the present invention will be described:
the applicant has found that the problems currently exist are: when the receiver has no external time service and the signal level can only acquire time in milliseconds and can not acquire complete signal time, the positioning calculation can not be accurately realized under the condition by using the traditional positioning algorithm comprising 4 state variables.
Most receivers store their position when powered down so that after power up, the last position and other data can be used to determine the required parameters to help acquire the code and carrier phase of various GNSS satellites. These assistance data not only increase the sensitivity of the receiver, but also reduce the time required for positioning.
If the external device can provide the data information such as the receiver position, time, visible satellite sequence, clock correction parameters, ephemeris, relative code phase delay amount, doppler frequency shift, various error corrections (such as ionospheric delay correction) and the like required by the receiver in the signal capturing and positioning calculation process to the receiver, the receiver can calculate the reduced three-dimensional search range of signal capturing according to the auxiliary information, and can eliminate the need of demodulating the ephemeris parameters in real time from the received satellite signals, thereby accelerating the signal capturing speed and obtaining a good TTFF (time to first fix) performance. Meanwhile, the signal searching range is shortened, so that the receiver has plentiful time to integrate weak signals for a long time, and satellite navigation message data bits provided by the outside can be used for realizing data stripping required by long-time (longer than 20 ms) coherent integration, thereby improving the signal capturing and tracking sensitivity of the receiver. For example: assuming that the receiver estimates the doppler shift of a satellite signal from the aiding information, from which the number of frequency band searches can be reduced to 10 times without aiding, the receiver signal acquisition can take 10 times more time to reside on each search unit without taking other factors into account, and the corresponding signal acquisition sensitivity can be increased by about 10dB.
Under the condition that the time error of the receiver reaches the second level, the invention provides a non-traditional AGPS positioning algorithm containing 5 state variables, which can realize accurate positioning of the receiver before frame synchronization and bit synchronization and greatly improve TTFF performance of the receiver.
A first embodiment;
referring to fig. 1, an embodiment of the present invention provides an AGPS positioning method applicable to a receiver with a time error of seconds, comprising the steps of:
in step S101, if all satellites of the receiver meet the AGPS positioning condition, a first pseudo-range value corrected at a rough time is calculated for each satellite.
In the method embodiment, the next processing can only be performed after all satellites of the receiver meet the AGPS positioning condition. As a preferred embodiment, the setting of the AGPS positioning conditions is as follows: A. satellite noise ratio is higher than 36dB; B. judging the number of satellites, wherein single frequency is not less than 5, double frequency is not less than 6, and three frequency is not less than 7; C. the number of continuous stable calendar elements is more than or equal to 10. Wherein 36dB is obtained through actual measurement experience, and compared with 35dB and below data, the actual measurement effect of 36dB is selected to be optimal. The basic condition for realizing the positioning calculation by the receiver is 4 satellites, for the scheme of the invention, the number of the 4 satellites is too small, the obtained positioning result is poor, if the number of the satellites is increased, the positioning effect is better, but the time consumption is also increased, the scheme of the invention aims to ensure that the first positioning is accurate and quick, and the two parameters of the number of the satellites and the first positioning time are balanced, so the condition B is defined. The condition C is set to ensure stable star reception.
Calculating a first pseudo-range value corrected at a rough time for each satellite
Wherein ρ is (i) The measured pseudorange representing satellite I, I representing ionospheric delay correction value, T representing tropospheric delay correction, S representing earth rotation correction value, δt (s) Representing satellite clock differences.
Step S102, calculating the difference between the satellite-to-earth distance of each satellite at a plurality of times within the ephemeris freshness time range and the corresponding first pseudo-range value by taking the approximate time as the starting time, calculating the sum of the differences of all satellites at each of the plurality of times, and obtaining the time corresponding to the minimum value of the sum of all the differences as the reference time.
As an alternative embodiment, assume that the approximate time is t 0 Under the condition that the ephemeris freshness is less than or equal to 30min, calculating (t) with 60s as intervals 0 Satellite-to-ground distance D at +n 60) time (i) (t 0 +n×60) (where n=1, 2,..30) and taking the difference between the satellite-to-ground distance and the first pseudorange value, summing the differences for all satellites at a time:
where m represents the number of satellites. Finding n corresponding to the minimum value of d (n) in 30 moments to obtain the moment t closest to the current time now As a reference time: t is t now ＝t 0 +n*60。
And step S103, correcting the position of each satellite and the first pseudo-range value based on the reference moment to obtain a corrected satellite position and a corrected second pseudo-range value.
As an alternative embodiment, step S103 includes:
step S1031, calculating a difference between the satellite-to-ground distance of each satellite at the reference time and the first pseudo-range value. Calculating t now At moment, satellite-ground distances of all satellites and corrected pseudo-ranges are calculated, and the difference value of the satellite-ground distances and the corrected pseudo-ranges is obtained:
d (i) (t now )＝ρ (i) (t now )-D (i) (t now )
step S1032, the satellite corresponding to the minimum difference value is obtained as the reference satellite, and the positions of the remaining satellites and the first pseudo-range value are corrected based on the reference satellite.
Find d (i) (t now ) The satellite corresponding to the minimum value, which is assumed to be satellite 1, is used as a reference to correct other satellites:
ρ (i) (t now )＝(D (i) (t now )+ρ (1) (t now )-D (1) (t now )) ms or more +(ρ (i) (t now )) ms or less
Step S104, AGPS solution is carried out on the receiver based on the corrected satellite position and the second pseudo-range value of each satellite, and position coordinates, zhong Chazhi and absolute deviation values of the receiver are obtained.
In this embodiment, the matrix equation of the provided AGPS positioning algorithm is:
wherein the first four state variables (including three position coordinates of Δx, Δy, Δz and receiver Zhong Chazhi Δδt u ) In accordance with the traditional positioning equation, the scheme adds a fifth state variable delta T u . The first three state variables, Δx, Δy, Δz, are consistent with conventional positioning equations, representing the displacement of the receiver in the x, y, z directions, respectively, as is well known in the art and will not be discussed in detail herein.
Respectively represent r (m) The representation bias of x, y and z, the fourth state variable delta t u Is the receiver clock difference in meters. Fifth state variable δT u Is the absolute time deviation of the receiver in seconds,/->
Geometric distance r of mth satellite (m) For delta T u Which represents the deviation δT from time u The introduced geometric distance calculates the error. And solving the solution of the equation set to obtain the position coordinates, zhong Chazhi and absolute deviation values of the receiver, and performing iterative operation. When the iteration converges to the required precision, the iteration operation can be terminated, the success of AGPS iteration at the moment is judged, and the value obtained after the current iteration calculation is used as the positioning result of the receiver at the moment.
The embodiment of the method aims at the problems that the receiver has no external time service, the signal layer can only acquire time in milliseconds, and the positioning calculation cannot be completed by using the traditional mode under the scene that the complete signal time cannot be acquired. The method provided by the first aspect of the invention utilizes the external auxiliary information (approximate position, ephemeris, approximate time) and the time in milliseconds to calculate the complete signal time so as to complete the positioning calculation, solves the problem that the positioning calculation cannot be completed by using the traditional mode under the condition that the receiver cannot obtain the complete signal time, and also accelerates the speed of completing the first positioning of the receiver.
A second embodiment;
referring to fig. 2, in order to facilitate understanding by those skilled in the art, a set of preferred embodiments is provided below, the present implementation comprising the steps of:
first step, AGPS positioning condition judgment:
A. satellite noise ratio is higher than 36dB;
B. judging the number of satellites, wherein single frequency is not less than 5, double frequency is not less than 6, and three frequency is not less than 7;
C. the number of continuous stable epochs is more than or equal to 10;
when the conditions A to C are met simultaneously, entering the next step;
second step, calculating all satellite corrected pseudo-range values
Wherein ρ is (i) A measured pseudorange representing satellite I, I representing ionospheric delay correction, T representing tropospheric delay correction, S representing earth rotation correction, δt (s) Representing satellite clock differences.
Third step, determining signal time:
let the outline time be t 0 Under the condition that the ephemeris freshness is less than or equal to 30min, calculating (t) with 60s as intervals 0 Satellite-to-ground distance D at +n 60) time (i) (t 0 +n×60) (where n=1, 2,..30), and the difference between the satellite-to-earth distance and the corrected pseudorange is obtained, and all satellites at a time are subtractedValue summation:
where m represents the number of satellites. Finding n corresponding to the minimum value of d (n) in 30 moments to obtain the moment t closest to the current time now ＝t 0 +n*60。
Fourth, correcting all satellite time:
calculating t now At moment, satellite-ground distances of all satellites and corrected pseudo-ranges are calculated, and the difference value of the satellite-ground distances and the corrected pseudo-ranges is obtained:
d (i) (t now )＝ρ (i) (t now )-D (i) (t now )
find d (i) (t now ) The satellite corresponding to the minimum value, which is assumed to be satellite 1, is used as a reference to correct other satellites:
ρ (i) (t now )＝(D (i) (t now )+ρ (1) (t now )-D (1) (t now )) ms or more +(ρ (i) (t now )) ms or less
Fifth step, AGPS solution:
according to the positioning equation:
where m represents the temporary number of the satellite, (x, y, z) represents the receiver position coordinates, (x) (m) ,y (m) ,z (m) ) The first term on the left of the equation represents the geometrical distance of the receiver from satellite m, δt u Representing receiver clock error, ρ c (m) Representing corrected pseudorange measurements, p in the fourth step i (t now ). Linearizing the nonlinear equation:
wherein:
As can be seen from the above description,
representing the inverse of the x component of the unit observation vector. Likewise, a->
Respectively r (m) The partial derivatives of y and z are the inverses of the y component and the z component of the unit observation vector.
Compared with the matrix equation of the four-state variable positioning algorithm, the matrix equation of the AGPS positioning algorithm provided by the embodiment of the method is as follows:
wherein the first four state variables are consistent with the traditional positioning equation, and a fifth state variable is added. The first three state variables deltax, deltay and deltaz represent the displacement of the receiver in the x, y and z directions respectively;
respectively represent r (m) Bias derivative to x, y, z, fourth state variable δt u Receiver clock difference in meters, fifth stateVariable δT u Is the absolute time deviation of the receiver in seconds,/->
Geometric distance r of mth satellite (m) For delta T u Which represents the deviation δT from time u The introduced geometric distance calculates the error.
Sixth, judging availability of the positioning result:
and solving the solution of the equation set to obtain the position coordinates, zhong Chazhi and absolute deviation values of the receiver, and performing iterative operation. When the iteration converges to the required precision, the iteration operation can be terminated, the success of AGPS iteration at the moment is judged, and the value obtained after the current iteration calculation is used as the positioning result of the receiver at the moment. The judgment of the iteration convergence accuracy is to calculate whether the value of the displacement obtained by the iteration is smaller than a preset threshold value, wherein the threshold value is set to be 0.01.
And seventh, if the AGPS iteration is successful and accurate, carrying out speed measurement calculation, otherwise restarting AGPS.
A third embodiment;
referring to fig. 3, to verify the effect of the embodiment of the present invention, a set of experimental results are provided, specifically as follows:
and setting a user scene as a static state by using a GNSS signal simulation source, wherein the simulation duration is about 10min. A set of rough position, rough time and satellite ephemeris are entered into the receiver in advance, in contrast to the positioning situation using the methods herein and using conventional positioning methods. The user location reference is latitude 40°n, longitude 116°e, and elevation 312m.
In fig. 3, the solid line represents the positioning case using the method of the present invention, and the circular line represents the case of the conventional positioning method. The abscissa represents seconds in weeks, the ordinate represents the positioning elevation in meters. As can be seen from fig. 3, the first positioning time of the method of the present invention is about 543600, the first positioning time of the conventional method is about 543650, and the first positioning time is improved by about 50s compared with the two methods. In the period of 543600 to 543750 seconds in the week, the elevation error of the method is within 2 meters, and the maximum elevation error of the traditional method is 4 meters.
Compared with the traditional positioning algorithm, the method embodiment shortens the first positioning time of the receiver and achieves the purpose of quick positioning. The method solves the problem that the positioning calculation cannot be completed by using the traditional mode under the condition that the receiver cannot obtain the complete time of the signal; the speed of the receiver for finishing the first positioning is increased.
A fourth embodiment;
an embodiment of the present invention further provides a control apparatus, including: a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the AGPS positioning method according to the first or second embodiment of the invention when executing the computer program. The AGPS positioning method according to the first embodiment or the second embodiment is implemented when the processor of the control device executes the computer program, which solves the problem that the positioning solution cannot be completed by using the conventional method under the condition that the receiver cannot obtain the signal complete time, and also increases the speed of completing the first positioning of the receiver.
The embodiment also provides a receiver, which comprises the control device.
Furthermore, an embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the AGPS positioning method as in the first embodiment or the second embodiment. For example, the AGPS positioning method as in steps S101 to S104 can be executed by one of the control processors.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. An AGPS positioning method suitable for a receiver with a time error of seconds, comprising the steps of:
if all satellites of the receiver meet AGPS positioning conditions, calculating a first pseudo-range value corrected by each satellite at the approximate time;
calculating the difference value between the satellite-to-ground distance of each satellite at a plurality of times in the ephemeris freshness time range and the corresponding first pseudo-range value by taking the sketch time as the starting time, calculating the sum of the difference values of all satellites at each of the plurality of times, and obtaining the time corresponding to the minimum value of the sum of all the difference values as the reference time;
correcting the position of each satellite and the first pseudo-range value based on the reference moment to obtain a corrected satellite position and a corrected second pseudo-range value; the difference value between the satellite-ground distance of each satellite at the reference moment and the first pseudo-range value is calculated:
d (i) (t now )＝ρ (i) (t now )-D (i) (t now )
the satellite corresponding to the minimum difference value is obtained as a reference satellite, and the positions of the remaining satellites and the first pseudo-range value are corrected based on the reference satellite:
ρ (i) (t now )＝(D (i) (t now )+ρ (1) (t now )-D (1) (t now )) ms or more +(ρ (i) (t now )) ms or less
Wherein d (i) (t now ) Indicating that the ith satellite is at the reference time t now Is the difference between the satellite-to-ground distance and the first pseudorange value ρ (i) (t now ) Indicating that the ith satellite is at the reference time t now D (i) (t now ) Indicating that the ith satellite is at the reference time t now Distance of star to earth ρ (1) (t now ) First pseudo-range value, D, representing reference satellite (1) (t now ) Representing the satellite-to-ground distance of the reference satellite;
AGPS (advanced graphics processing) calculation is carried out on the receiver based on the corrected satellite position and the second pseudo-range value of each satellite, so as to obtain position coordinates, zhong Chazhi and absolute deviation values of the receiver; the matrix equation for AGPS solution includes:
wherein the state variables Δx, Δy, Δz represent the displacement of the receiver in the x, y, z directions, respectively;
respectively represent the geometric distance r of the mth satellite (m) Partial derivatives of x, y and z; state variable δt u Representing receiver clock error in meters, state variable δT u Representing the receiver absolute deviation value in seconds; />
Representing the geometric distance r of the mth satellite (m) For time deviation delta T u Is a partial derivative of (c).
2. The method for AGPS positioning according to claim 1, wherein the meeting the AGPS positioning condition includes meeting the following first condition to third condition simultaneously:
first condition: satellite noise ratio is higher than 36dB;
second condition: the number of single-frequency satellites is not less than 5, the number of double-frequency satellites is not less than 6, and the number of triple-frequency satellites is not less than 7;
third condition: the number of consecutive stable epochs is greater than or equal to 10.
3. The AGPS positioning method according to claim 1 adapted for receiver time error of the order of seconds, further comprising the steps of:
and if the iteration value of the matrix equation is smaller than a preset threshold value, further performing speed measurement calculation of the receiver.
4. An AGPS positioning method according to claim 3, wherein said threshold value is 0.01.
5. The AGPS positioning method according to claim 1, wherein the interval between two adjacent moments among the moments is 60 seconds.
6. A control apparatus, characterized by comprising: memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements an AGPS positioning method according to any of claims 1 to 5 adapted to receiver time errors of the order of seconds when executing the computer program.
7. A receiver comprising the control device of claim 6.
8. A computer-readable storage medium storing computer-executable instructions for causing a computer to perform the AGPS positioning method according to any one of claims 1 to 5 adapted for receiver time error in seconds.
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